/*CAN总线实验 采用回环测试

开发板通过CAN总线发送0xAB，0xCD，自己发送自己接收

CAN 所需GPIO不使用重映射 回环测试无需外接导线适用一块开发板测试

*/

#include"stm32f10x.h"

#include <stdio.h>

CanTxMsg TxMessage; //CAN发送缓冲区

CanRxMsg RxMessage; //CAN接收缓冲区

int flag=0xff; //判断接收标志

/*GPIO设置

*/

GPIO_Configuration() //GPIO的设置 CAN发送接收引脚设置

{ GPIO_InitTypeDef GPIO_InitStructure; //定义结构体

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //选中第12引脚

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置输出速率为50MHz

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_IPU; //设置输出方式为上拉输入

GPIO_Init(GPIOA, &GPIO_InitStructure); //取GPIO为GPIOA

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //选中第11引脚

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置输出速率为50MHz

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP; //设置输出方式为推挽输出

GPIO_Init(GPIOA, &GPIO_InitStructure); //取GPIO为GPIOA

}

void Dealy_Ms(u16 x) //延时

{int i,j;

for(i=0;i<1000;i++)

for(j=0;j<x;j++);

}

int fputc(int ch,FILE *f) //将printf函数指向USART1 发送数据时便可直接调用printf

{USART1->SR;

USART_SendData(USART1, ch); //ch送给USART1

while(USART_GetFlagStatus(USART1, USART_FLAG_TC)==RESET); //等待发送完毕

return ch; //返回ch

}

/*UART1发送函数

*/

USART1_Configuration() //usart1串口设置

{USART_InitTypeDef USART_InitStructure;

GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA,ENABLE); //usart1串口时钟使能

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //选中第9引脚

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置输出速率为50MHz

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_AF_PP; //设置输出方式为复用输出

GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //选中第10引脚

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置输出速率为50MHz

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_IN_FLOATING; //设置输出方式为模拟输入

GPIO_Init(GPIOA, &GPIO_InitStructure);

USART_DeInit(USART1); //初始化

USART_InitStructure.USART_BaudRate = 9600; //9600波特率

USART_InitStructure.USART_WordLength = USART_WordLength_8b; //八个字节

USART_InitStructure.USART_StopBits = USART_StopBits_1; //停止位为1位

USART_InitStructure.USART_Parity = USART_Parity_No; //无校验

USART_InitStructure.USART_HardwareFlowControl =USART_HardwareFlowControl_None; //无硬件流

USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; //接收和发送功能使能

USART_Init(USART1, &USART_InitStructure);

USART_Cmd(USART1, ENABLE); //串口使能

}

/*

CAN总线的模式初始化

*/

void CAN_Mode_Configriation(void)

{

CAN_InitTypeDef CAN_InitStructure;

CAN_DeInit(CAN1); //CAN总线寄存器初始化

CAN_StructInit(&CAN_InitStructure); //CAN单元初始化

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE); //开启CAN总线时钟

CAN_InitStructure.CAN_TTCM = DISABLE; //关闭时间时间触发通信

CAN_InitStructure.CAN_ABOM = ENABLE; //开启自动离线管理

CAN_InitStructure.CAN_AWUM = ENABLE; //开启自动唤醒模式

CAN_InitStructure.CAN_NART = DISABLE; //开启禁止报文自动重传

CAN_InitStructure.CAN_RFLM = DISABLE; //开启接收FIFO锁定模式 DISABLE设置为溢出时新报文覆盖原有报文

CAN_InitStructure.CAN_TXFP = DISABLE; //发送FIFO优先级DISABLE设置为优先级取决于报文标识符ENABLE设置为顺序优先级

CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack; // 设置工作模式为回环测试一块开发板无需接任何线

CAN_InitStructure.CAN_SJW = CAN_BS1_2tq; //重新同步跳跃宽度为2个时间单元

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq; //BTR-TS1时间段1占用6个时间单元

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq; //BTR-TS1时间段2占用3个时间单元

CAN_InitStructure.CAN_Prescaler =4; //BTR-BRP波特率分频器 定义时间单元的时间大小

//APB1的时钟频率为36M则传输速率为36/(1+3+6)/4=0.8Mbps

CAN_Init(CAN1,&CAN_InitStructure);

}

/*

CAN的过滤器设置

*/

void CAN_Filter_Configriation(void)

{ CAN_FilterInitTypeDef CAN_FilterInitStructure;

CAN_FilterInitStructure.CAN_FilterNumber = 2; //设置过滤器组2

CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //工作在标识位屏蔽模式

//让报文标识符过滤器按照报文的内容进行对比过滤拓展ID不符合就抛弃

//符合就存入FIFO0

CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //过滤器位宽为单位32个

CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)0x1225<<3)&0xffff0000)>>16; //过滤的拓展ID的高16位

CAN_FilterInitStructure.CAN_FilterIdLow = ((u32)0x1225<<3)|CAN_ID_EXT|CAN_RTR_DATA&0XFFFF; //过滤的ID低16位

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; //高16位每位进行匹配

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF; //低16位每位进行匹配

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; //过滤器关联到FIFO0

CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //过滤器使能

CAN_FilterInit(&CAN_FilterInitStructure);

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //CAN通信中断使能

}

/*

主机的通信报文设置

*/

void CAN_SETMsg(void)

{ TxMessage.ExtId=0x1225; //报文的拓展ID设置

TxMessage.IDE = CAN_ID_EXT; //拓展模式

TxMessage.RTR = CAN_RTR_DATA; //发送的是数据

TxMessage.DLC = 2; //报文数据长度

TxMessage.Data[0] = 0xAB; //报文数据内容

TxMessage.Data[1] = 0xCD;

}

/*

CAN的中断设置

*/

void CAN_NVIC_Configriation(void)

{

NVIC_InitTypeDef NVIC_InitStructure;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); //选择抢占优先级和响应优先级

NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; //CAN接收中断

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //主优先级设置

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级设置

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; // 通道使能

NVIC_Init(&NVIC_InitStructure);

}

int main(void)

{ USART1_Configuration() ; //串口设置

GPIO_Configuration(); //CAN所需GPIO设置

CAN_Mode_Configriation(); //CAN模式参数设置

CAN_NVIC_Configriation(); //CAN中断设置

CAN_Filter_Configriation(); //CAN过滤器设置

printf("\r\n这是一个CAN通讯实验 采用回环测试\r\n") ;

CAN_SETMsg(); //通信所需发送的报文设置

printf("\r\n发送的内容：\r\n") ;

printf("\r\nID号ExtId：0x%x",TxMessage.ExtId) ;

printf("\r\n数据段的内容：DATA[0]=0X%x，DATA[1]=0X%x\r\n",TxMessage.Data[0],TxMessage.Data[1]) ;

CAN_Transmit(CAN1,&TxMessage);

while(flag==0xff); //判断是否发送成功

printf("\r\n成功接受到数据！\r\n") ;

printf("\r\n接受到的内容：\r\n") ;

printf("\r\nID号ExtId：0x%x",RxMessage.ExtId) ;

printf("\r\n数据段的内容：DATA[0]=0X%x，DATA[1]=0X%x\r\n",RxMessage.Data[0],RxMessage.Data[1]) ;

while(1);

}

/*

CAN接收中断函数

*/

void USB_LP_CAN1_RX0_IRQHandler(void)

{ CAN_Receive(CAN1,CAN_FIFO0,&RxMessage); //将接收到的ID、数据等移入到RxMessage结构体中

if((RxMessage.ExtId==0x1225)&&(RxMessage.IDE==CAN_ID_EXT)&&(RxMessage.DLC==2)&&((RxMessage.Data[1]|RxMessage.Data[0]<<8)==0xABCD))

{flag=0; //判断是否接收到发送的数据信息

}

else flag=0xff;

}